Yes there is a parking fee of 3.00$ because Craig Regional Park is owned and operated by OC Parks
OC Parks offers annual passes good at multiple regional parks. For $55 ($35 for 60+ seniors) you can enter parks including Craig, Clark, Irvine, Santiago Oaks, Yorba, Laguna Niguel, Carbon Canyon, and many more. For $80 ($50 for 60+ seniors) you can also park at some OC beaches. You can purchase annual passes at the Craig Park office.
Not sure about a yearly option, it looked like it was a simple parking fee every time
Thanks! Your answer is awaiting moderation.